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Fix calibration modal bug, save calibration images (#165)

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Saves calibration images to photonvision_config/calibImgs
This commit is contained in:
Matt
2020-12-05 12:18:07 -08:00
committed by GitHub
parent 14ed7ce7a4
commit 15d21b7841
7 changed files with 67 additions and 24 deletions
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4
photon-server/src/main/java/org/photonvision/common/configuration/ConfigManager.java
View File

@@ -361,6 +361,10 @@ public class ConfigManager {
return Path.of(configDirectoryFile.toString(), "logs");
}
public Path getCalibDir() {
return Path.of(configDirectoryFile.toString(), "calibImgs");
}
public static final String LOG_PREFIX = "photonvision-";
public static final String LOG_EXT = ".log";
public static final String LOG_DATE_TIME_FORMAT = "yyyy-M-d_hh-mm-ss";

11
photon-server/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
View File

@@ -81,10 +81,17 @@ public class Calibrate3dPipe
try {
// FindBoardCorners pipe outputs all the image points, object points, and frames to calculate
// imageSize from, other parameters are output Mats
var objPoints = in.stream().map(Triple::getMiddle).collect(Collectors.toList());
var imgPts = in.stream().map(Triple::getRight).collect(Collectors.toList());
if (objPoints.size() != imgPts.size()) {
logger.error("objpts.size != imgpts.size");
return null;
}
calibrationAccuracy =
Calib3d.calibrateCameraExtended(
in.stream().map(Triple::getMiddle).collect(Collectors.toList()),
in.stream().map(Triple::getRight).collect(Collectors.toList()),
objPoints,
imgPts,
new Size(in.get(0).getLeft().width, in.get(0).getLeft().height),
cameraMatrix,
distortionCoefficients,

41
photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
View File

@@ -18,6 +18,7 @@
package org.photonvision.vision.pipe.impl;
import java.util.Objects;
import org.apache.commons.lang3.tuple.Pair;
import org.apache.commons.lang3.tuple.Triple;
import org.opencv.calib3d.Calib3d;
import org.opencv.core.*;
@@ -28,7 +29,8 @@ import org.photonvision.vision.pipe.CVPipe;
import org.photonvision.vision.pipeline.UICalibrationData;
public class FindBoardCornersPipe
extends CVPipe<Mat, Triple<Size, Mat, Mat>, FindBoardCornersPipe.FindCornersPipeParams> {
extends CVPipe<
Pair<Mat, Mat>, Triple<Size, Mat, Mat>, FindBoardCornersPipe.FindCornersPipeParams> {
private static final Logger logger =
new Logger(FindBoardCornersPipe.class, LogGroup.VisionModule);
@@ -91,11 +93,11 @@ public class FindBoardCornersPipe
/**
* Finds the corners in a given image and returns them
*
* @param in Input for pipe processing.
* @param in Input for pipe processing. Pair of input and output mat
* @return All valid Mats for camera calibration
*/
@Override
protected Triple<Size, Mat, Mat> process(Mat in) {
protected Triple<Size, Mat, Mat> process(Pair<Mat, Mat> in) {
// Create the object points
createObjectPoints();
@@ -103,43 +105,50 @@ public class FindBoardCornersPipe
return findBoardCorners(in);
}
private Triple<Size, Mat, Mat> findBoardCorners(Mat frame) {
/**
* Find chessboard corners given a input mat and output mat to draw on
*
* @return Frame resolution, object points, board corners
*/
private Triple<Size, Mat, Mat> findBoardCorners(Pair<Mat, Mat> in) {
createObjectPoints();
// Convert the frame to grayscale to increase contrast
Imgproc.cvtColor(frame, frame, Imgproc.COLOR_BGR2GRAY);
var inFrame = in.getLeft();
var outFrame = in.getRight();
// Convert the inFrame to grayscale to increase contrast
Imgproc.cvtColor(inFrame, inFrame, Imgproc.COLOR_BGR2GRAY);
boolean boardFound = false;
if (params.type == UICalibrationData.BoardType.CHESSBOARD) {
// This is for chessboards
boardFound = Calib3d.findChessboardCorners(frame, patternSize, boardCorners);
boardFound = Calib3d.findChessboardCorners(inFrame, patternSize, boardCorners);
} else if (params.type == UICalibrationData.BoardType.DOTBOARD) {
// For dot boards
boardFound =
Calib3d.findCirclesGrid(
frame, patternSize, boardCorners, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
inFrame, patternSize, boardCorners, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
}
if (!boardFound) {
// If we can't find a chessboard/dot board, convert the frame back to BGR and return false.
Imgproc.cvtColor(frame, frame, Imgproc.COLOR_GRAY2BGR);
// If we can't find a chessboard/dot board, convert the inFrame back to BGR and return false.
return null;
}
var outBoardCorners = new MatOfPoint2f();
boardCorners.copyTo(outBoardCorners);
// Get the size of the frame
this.imageSize = new Size(frame.width(), frame.height());
// Get the size of the inFrame
this.imageSize = new Size(inFrame.width(), inFrame.height());
// Do sub corner pix for drawing chessboard
Imgproc.cornerSubPix(frame, outBoardCorners, windowSize, zeroZone, criteria);
Imgproc.cornerSubPix(inFrame, outBoardCorners, windowSize, zeroZone, criteria);
// convert back to BGR
Imgproc.cvtColor(frame, frame, Imgproc.COLOR_GRAY2BGR);
// Imgproc.cvtColor(inFrame, inFrame, Imgproc.COLOR_GRAY2BGR);
// draw the chessboard, doesn't have to be different for a dot board since it just re projects
// the corners we found
Calib3d.drawChessboardCorners(frame, patternSize, outBoardCorners, true);
Calib3d.drawChessboardCorners(outFrame, patternSize, outBoardCorners, true);
// // Add the 3D points and the points of the corners found
// if (addToSnapList) {
@@ -147,7 +156,7 @@ public class FindBoardCornersPipe
// this.listOfImagePoints.add(boardCorners);
// }
return Triple.of(frame.size(), objectPoints, outBoardCorners);
return Triple.of(inFrame.size(), objectPoints, outBoardCorners);
}
public static class FindCornersPipeParams {

23
photon-server/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
View File

@@ -19,15 +19,20 @@ package org.photonvision.vision.pipeline;
import com.fasterxml.jackson.core.JsonProcessingException;
import edu.wpi.first.wpilibj.util.Units;
import java.nio.file.Path;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import org.apache.commons.lang3.tuple.Pair;
import org.apache.commons.lang3.tuple.Triple;
import org.opencv.core.Mat;
import org.opencv.core.Size;
import org.opencv.imgcodecs.Imgcodecs;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.SerializationUtils;
import org.photonvision.common.util.file.FileUtils;
import org.photonvision.common.util.math.MathUtils;
import org.photonvision.server.SocketHandler;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
@@ -62,6 +67,9 @@ public class Calibrate3dPipeline
private boolean calibrating = false;
// Path to save images
private final Path imageDir = ConfigManager.getInstance().getCalibDir();
public Calibrate3dPipeline() {
this(25);
}
@@ -99,7 +107,9 @@ public class Calibrate3dPipeline
long sumPipeNanosElapsed = 0L;
// Check if the frame has chessboard corners
var findBoardResult = findBoardCornersPipe.run(frame.image.getMat()).output;
var outFrame = new Mat();
frame.image.getMat().copyTo(outFrame);
var findBoardResult = findBoardCornersPipe.run(Pair.of(frame.image.getMat(), outFrame)).output;
if (takeSnapshot) {
// Set snapshot to false even if we don't find a board
@@ -107,6 +117,9 @@ public class Calibrate3dPipeline
if (findBoardResult != null) {
foundCornersList.add(findBoardResult);
Imgcodecs.imwrite(
Path.of(imageDir.toString(), "img" + foundCornersList.size() + ".jpg").toString(),
frame.image.getMat());
// update the UI
broadcastState();
@@ -120,7 +133,13 @@ public class Calibrate3dPipeline
return new CVPipelineResult(
MathUtils.nanosToMillis(sumPipeNanosElapsed),
null,
new Frame(new CVMat(frame.image.getMat()), frame.frameStaticProperties));
new Frame(new CVMat(outFrame), frame.frameStaticProperties));
}
public void deleteSavedImages() {
imageDir.toFile().mkdirs();
imageDir.toFile().mkdir();
FileUtils.deleteDirectory(imageDir);
}
public boolean hasEnough() {

3
photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
View File

@@ -206,6 +206,7 @@ public class VisionModule {
public void startCalibration(UICalibrationData data) {
var settings = pipelineManager.calibration3dPipeline.getSettings();
pipelineManager.calibration3dPipeline.deleteSavedImages();
settings.cameraVideoModeIndex = data.videoModeIndex;
visionSource.getSettables().setVideoModeIndex(data.videoModeIndex);
logger.info(
@@ -223,7 +224,7 @@ public class VisionModule {
settings.cameraGain = -1;
}
pipelineManager.setCalibrationMode(true);
setPipeline(PipelineManager.CAL_3D_INDEX);
}
public void takeCalibrationSnapshot() {